本文提出傾向性分析於一種變化鏈機構之尺寸合成方法，它只需要先設計出平面連桿組的大概位置，即可利用本文提出的方法，計算出所有桿件的尺寸，因此能夠減少以往使用試誤法所花費的時間。
　　本研究應用三度空間運動平台的輸入對輸出的傾向性分析理論，探討兩個自由度貨車尾門升降機構的尺寸合成方法，首先以五連桿組證明傾向性分析理論的適用性，接著以貨車尾門升降機構為例，透過傾向性分析理論的應用，系統化地合成出尾門升降機構的桿件尺寸。依此結果，提出此種變化鏈機構之系統化尺寸合成方法的步驟流程。本研究並選定不同的四組輸入桿初始長度與角位置，進而使用SolidWorks軟體繪製出對應的3D模型，進行動態模擬，最後進行機械利益分析，篩選出尺寸較佳的設計。因此，本研究提出的此種變化鏈機構之系統化尺寸設計方法，已初步證實其可行性與正確性。

　　This study presents a dimensional synthesis methodology of applying propensity theory to a variable-chain mechanism. This method only requires the designer roughly set the initial positions of related links and the positions of fixed joints, and then could obtain all the dimensions of links by following the steps. It can, therefore, save a significant time of design.
　　This study applies the input-output propensity theory for three-dimensional kinematic platform to develop the method of dimensional synthesis for a 2-DOF tailgate lift mechanism used in truck. Firstly, the applicability of input-output propensity theory is confirmed by applying to a 2-DOF five-bar linkage. Then, a tailgate lift mechanism is taken as another example to apply the propensity theory to analytically synthesize the required dimensions of links. According the way of yielding the results, a systematic method of dimensional synthesis for this variable-chain mechanism is presented. This study then takes 4 different sets of length and initial position of the input link for the lift mechanism, and yields different corresponding synthesized dimensions of other links. Then the corresponding 3D models to the results are set up via Solidworks software and the dynamic simulations of those models are also performed in Solidworks. A better design is selected among those potential synthesized mechanisms by setting the criteria of mechanical advantage. Through the mentioned tests, the preliminary feasibility and validity has been confirmed for this systematic method of dimensional synthesis of a special variable-chain mechanism.

摘　要 i
ABSTRACT ii
誌 謝 iv
目 錄 v
表目錄 vii
圖目錄 viii
第一章 緒論 1
1.1 研究背景與動機 1
1.2 研究目的與步驟 4
1.3 論文架構 6
第二章 文獻探討 7
2.1 可變拓樸機構構造的研究 7
2.2 變自由度機構的研究 8
2.3 變化鏈機構尺寸合成的研究 8
2.4 其它相關研究 9
2.5 傾向性指數分析理論 9
2.5.1 機械手臂運動學的局部性輸入與輸出傾向指數 9
2.5.2 局部性輸入與輸出傾向性指數分析 10
2.6 文獻探討總結 10
第三章 輸入傾向性分析 12
3.1 平面五連桿組 13
3.2 平面五連桿組之輸入傾向性分析 14
第四章 尺寸設計方法 20
4.1 夾緊機構之尺寸合成方法分析與補充 21
4.1.1 夾緊機構－Jacobian矩陣建立 21
4.1.2 夾緊機構－傾向性分析 28
4.1.3 夾緊機構－傾向性分析之驗證 30
4.1.4 夾緊機構－尺寸合成方法之流程 35
4.2 尾門升降機構之尺寸合成方法 37
4.2.1 尾門升降機構－Jacobian矩陣 37
4.2.2 尾門升降機構－傾向性分析 43
4.2.3 尾門升降機構－傾向性分析之驗證 44
4.2.4 尾門升降機構－尺寸合成方法之流程 49
第五章 七桿八接頭運動鏈之油壓缸配置 53
5.1 現有機構之設計需求 53
5.2 一般化運動鏈與特殊化運動鏈 54
5.3 可行之機構運動簡圖圖集 59
5.4 選擇假設桿長之依據 60
第六章 設計方法之使用 61
6.1 初始機構的設計 61
6.2 畫出初始機構的運動簡圖 62
6.3 檢查選用之輸入是否符合機構自由度 62
6.4 推導輸出桿P點的Jacobian 63
6.5 推導輸入之傾向性方程式 64
6.6 設定初始值 65
6.7 求解相關桿件尺寸之比例 66
6.8 檢查是否符合傾向性趨近於壹的方程式 67
6.9 決定其它桿件的長度 67
6.10 較佳解的篩選 69
6.10.1 各組機構之模型建立 71
6.10.2 各組機構之模擬結果 73
6.10.3 各組機構之機械利益分析 77
第七章 結論與未來展望 80
7.1 研究成果 80
7.2 建議與未來展望 81
參考文獻 83
附錄A 夾緊機構使用Mathematica軟體求解過程 86
附錄B 尾門升降機構使用Mathematica軟體求解過程 98

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